时间：2012年6月15日（周五）上午10:00

地点：行政楼C505

题目：Distributed Control of Networked Multi-vehicle Systems: Algorithms and Applications

 

摘要：

While autonomous agents that perform solo missions can yield significant benefits, greater efficiency and operational capability will be realized from teams of autonomous agents operating in a coordinated fashion. Potential applications for networked multiple autonomous agents include environmental monitoring, search and rescue, space-based interferometers, hazardous material handling, and combat, surveillance, and reconnaissance systems. Networked multi-agent systems place high demands on features such as low cost, high adaptivity and scalability, increased flexibility, great robustness, and easy maintenance. To meet these demands, the current trend is to design distributed control algorithms that rely on only local interaction to achieve global group behavior. The purpose of this talk is to overview our recent research in distributed control of networked multi-agent systems. Theoretical results on distributed leaderless consensus algorithms with agent dynamics including first- and second-order linear dynamics, rigid body attitude dynamics, and Euler-Lagrange dynamics, distributed single-leader collective tracking algorithms with reduced interaction and partial measurements, distributed multi-leader containment control algorithms with local interaction, and distributed average tracking algorithms with multiple time-varying reference signals will be introduced. Application examples in multi-vehicle cooperative control including rendezvous, formation keeping, and cooperative herding for wheeled mobile robots, UAV formation flying, deep space spacecraft attitude alignment, and synchronization of networked robotic arms will also be introduced.

 

报告人简介：Wei Ren received his Ph.D. degree in electrical engineering from Brigham Young University, Provo, UT, in 2004. From October 2004 to July 2005, he was a Postdoctoral Research Associate with the Department of Aerospace Engineering, University of Maryland, College Park, MD. He was an assistant professor (August 2005 to June 2010) and an associate professor (July 2010 to June 2011) with the Department of Electrical and Computer Engineering, Utah State University, Logan. Since July 2011, he has been with the Department of Electrical Engineering, University of California, Riverside, where he is currently an Associate Professor. His research focuses on distributed control of multi-agent systems and autonomous control of unmanned vehicles. He is an author of two books Distributed Coordination of Multi-agent Networks (Springer-Verlag, 2011) and Distributed Consensus in Multi-vehicle Cooperative Control (Springer-Verlag, 2008). Dr. Ren was the recipient of a National Science Foundation CAREER award in 2008. He is currently an Associate Editor for Automatica and Systems and Control Letters.

 

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